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Balance Sheet Details - Property and Equipment (Details) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Property, Plant and Equipment [Line Items]    
Property and equipment, gross $ 54,039 $ 53,069
Less accumulated depreciation and amortization (30,611) (29,029)
Construction-in-progress 1,574 1,612
Property and equipment, net 25,002 25,652
Laboratory and manufacturing equipment    
Property, Plant and Equipment [Line Items]    
Property and equipment, gross 33,808 33,329
Leasehold improvements    
Property, Plant and Equipment [Line Items]    
Property and equipment, gross 12,491 12,234
Computer equipment and software    
Property, Plant and Equipment [Line Items]    
Property and equipment, gross 6,028 5,793
Office furniture and fixtures    
Property, Plant and Equipment [Line Items]    
Property and equipment, gross $ 1,712 $ 1,713